Blender V2.61 - r43446

btConvexConcaveCollisionAlgorithm.h

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00001 /*
00002 Bullet Continuous Collision Detection and Physics Library
00003 Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
00004 
00005 This software is provided 'as-is', without any express or implied warranty.
00006 In no event will the authors be held liable for any damages arising from the use of this software.
00007 Permission is granted to anyone to use this software for any purpose, 
00008 including commercial applications, and to alter it and redistribute it freely, 
00009 subject to the following restrictions:
00010 
00011 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
00012 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
00013 3. This notice may not be removed or altered from any source distribution.
00014 */
00015 
00016 #ifndef CONVEX_CONCAVE_COLLISION_ALGORITHM_H
00017 #define CONVEX_CONCAVE_COLLISION_ALGORITHM_H
00018 
00019 #include "btActivatingCollisionAlgorithm.h"
00020 #include "BulletCollision/BroadphaseCollision/btDispatcher.h"
00021 #include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
00022 #include "BulletCollision/CollisionShapes/btTriangleCallback.h"
00023 #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
00024 class btDispatcher;
00025 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
00026 #include "btCollisionCreateFunc.h"
00027 
00029 class btConvexTriangleCallback : public btTriangleCallback
00030 {
00031     btCollisionObject* m_convexBody;
00032     btCollisionObject* m_triBody;
00033 
00034     btVector3   m_aabbMin;
00035     btVector3   m_aabbMax ;
00036 
00037 
00038     btManifoldResult* m_resultOut;
00039     btDispatcher*   m_dispatcher;
00040     const btDispatcherInfo* m_dispatchInfoPtr;
00041     btScalar m_collisionMarginTriangle;
00042     
00043 public:
00044 int m_triangleCount;
00045     
00046     btPersistentManifold*   m_manifoldPtr;
00047 
00048     btConvexTriangleCallback(btDispatcher* dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);
00049 
00050     void    setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
00051 
00052     virtual ~btConvexTriangleCallback();
00053 
00054     virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
00055     
00056     void clearCache();
00057 
00058     SIMD_FORCE_INLINE const btVector3& getAabbMin() const
00059     {
00060         return m_aabbMin;
00061     }
00062     SIMD_FORCE_INLINE const btVector3& getAabbMax() const
00063     {
00064         return m_aabbMax;
00065     }
00066 
00067 };
00068 
00069 
00070 
00071 
00073 class btConvexConcaveCollisionAlgorithm  : public btActivatingCollisionAlgorithm
00074 {
00075 
00076     bool    m_isSwapped;
00077 
00078     btConvexTriangleCallback m_btConvexTriangleCallback;
00079 
00080 
00081 
00082 public:
00083 
00084     btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);
00085 
00086     virtual ~btConvexConcaveCollisionAlgorithm();
00087 
00088     virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
00089 
00090     btScalar    calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
00091 
00092     virtual void    getAllContactManifolds(btManifoldArray& manifoldArray);
00093     
00094     void    clearCache();
00095 
00096     struct CreateFunc :public   btCollisionAlgorithmCreateFunc
00097     {
00098         virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
00099         {
00100             void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm));
00101             return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0,body1,false);
00102         }
00103     };
00104 
00105     struct SwappedCreateFunc :public    btCollisionAlgorithmCreateFunc
00106     {
00107         virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
00108         {
00109             void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm));
00110             return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0,body1,true);
00111         }
00112     };
00113 
00114 };
00115 
00116 #endif //CONVEX_CONCAVE_COLLISION_ALGORITHM_H